Controller for a commissioning device

ABSTRACT

A controller for a commissioning device for storing piece goods such as medicinal packages is provided. The controller includes a delivery table that extends in a first direction, two elongated clamping jaws disposed above the delivery table, the jaws having clamping surfaces that face one another, and a clamping jaw guide apparatus with a frame structure, at least one first and one second guide which are separated from one another in the first direction and extend in a second direction, and at least four clamping jaw carriages which are coupled to the guides and driven in the second direction. Two clamping jaw carriages each are associated with a guide and at least two clamping jaw carriages separated from one another in the first direction are coupled to one clamping jaw, respectively.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.15/654,971, filed on Jul. 20, 2017, entitled “CONTROLLER FOR ACOMMISSIONING DEVICE,” the disclosure of which is hereby incorporated byreference in their entirety for all purposes.

BACKGROUND OF THE DISCLOSURE

The present disclosure relates to a controller for a commissioningdevice and in particular to a controller for a commissioning device withhorizontal storage areas for storing piece goods, in particularmedicinal packages.

Controllers for commissioning devices for automatically storing andretrieving piece goods, such as medicinal packages, are known. Forexample, a known controller may have a delivery table and clamping jawsdisposed thereabove. The clamping jaws are pivotably attached to a toppart of the controller. The top part includes a guide which is coupledto the clamping jaws. To execute a pivoting motion of the clamping jaws,the guide is moved in the storage and retrieval direction.

SUMMARY

One or more disclosed embodiments provide a controller for acommissioning device with horizontal storage surfaces for storing piecegoods, comprising a delivery table extending in a first horizontaldirection, the delivery table having a storage end and a retrieval end,two elongated clamping jaws disposed above the delivery table andcomprising clamping surfaces facing one another, and a clamping jawguide apparatus, comprising a frame structure, at least one first andone second guides that are parallel and apart from one another in thefirst horizontal direction and extend in a second horizontal direction,perpendicular to the first horizontal direction, at least four clampingjaw carriages coupled to the guides and movable in the second horizontaldirection, wherein two first clamping jaw carriages are associated withthe first guide and two second clamping jaw carriages are associatedwith the second guide, respectively, and wherein at least two clampingjaw carriages separated from one another in the first horizontaldirection are coupled to a single clamping jaw, respectively, and atleast two drive elements coupled to a clamping jaw drive unit, whereinthe clamping jaw drive unit comprises at least two drives which have onedrive gear each, disposed opposite to first and second drive elements,respectively, wherein a respective drive gear is disposed in the centerbetween the first and second drive elements that the respective clampingjaw carriages associated with a guide are configured to be drivensynchronously.

In some embodiments described herein a controller comprising a deliverytable, a plurality of elongated clamping jaws disposed above thedelivery table; and a clamping jaw guide apparatus, comprising a framestructure, a plurality of guides disposed in parallel with the framestructure, a plurality of clamping jaw carriages coupled to theplurality of guides, the plurality of clamping jaw carriages configuredto be driven in parallel with the frame structure, and a plurality ofdrive elements coupled to a clamping jaw drive unit, wherein theclamping jaw drive unit comprises a plurality of drives which have onedrive gear each, and that are disposed opposite to the plurality ofdrive elements, respectively, wherein a respective drive gear isdisposed in the center between the plurality of drive elements that therespective clamping jaw carriages associated with a guide are configuredto be driven synchronously, wherein each of the plurality of guides isassociated with one or more of the plurality of clamping jaw carriages,and wherein at least two of the plurality of clamping jaw carriages arecoupled to each of the plurality of clamping jaws.

One or more disclosed embodiments provide a commissioning devicecontroller, comprising a delivery table elongated in a first direction,two clamping jaws disposed above the delivery table, a guide apparatusdrive unit, and a clamping jaw guide apparatus coupled to the guideapparatus drive unit, wherein the clamping jaw guide apparatus comprisesa frame structure, first and second guides disposed in parallel andapart from one another along the first direction, and extending in asecond direction perpendicular to the first direction, and a pluralityof clamping jaw carriages coupled to the first and second guides andconfigured to be moveable in the second direction, and first and seconddrive elements coupled to a clamping jaw drive unit, wherein theclamping jaw drive unit comprises two drives which have one drive geareach, disposed opposite to the first and second drive elements,respectively, wherein a respective drive gear is disposed in the centerbetween the first and second drive elements that the respective clampingjaw carriages associated with a guide are configured to be drivensynchronously, wherein first clamping jaw carriages are associated withthe first guide and second clamping jaw carriages are associated withthe second guide, and wherein at least two of the plurality of clampingjaw carriages are coupled to one of the clamping jaws and are separatedfrom one another in the first direction.

BRIEF DESCRIPTION OF THE DRAWINGS

The device according to the present disclosure and the method accordingto the present disclosure are described in greater detail below, withreference to the appended drawings, wherein:

FIG. 1a is a top perspective view of an embodiment of a controller;

FIG. 1b is a bottom perspective view of the controller of FIG. 1 a;

FIG. 2a is a top perspective view of an embodiment of a clamping jawguide apparatus;

FIG. 2b is a bottom perspective view of the clamping jaw guide apparatusof FIG. 2 a;

FIG. 3 is a perspective view of a portion of the clamping jaw guideapparatus of FIG. 2 a;

FIG. 4a is a top view of the clamping jaw guide apparatus of FIG. 3;

FIG. 4b is a bottom view of the clamping jaw guide apparatus of FIG. 3;

FIG. 5 is a perspective view of a portion of the clamping jaw guideapparatus of FIG. 2a in a clamped position;

FIG. 6a is a top view of the clamping jaw guide apparatus of FIG. 5; and

FIG. 6b is a bottom view of the clamping jaw guide apparatus of FIG. 5.

DETAILED DESCRIPTION

The present disclosure provides a controller of simplified design withpivotable clamping jaws for producing higher clamping forces.

In the scope of this application, the terms “piece good” and “medicinalpackage” will be used, wherein these terms will also be understood toinclude the respective plurals. The controller according to thedisclosure may be used to store and retrieve a piece good or medicinalpackage, or a plurality of piece goods or medicinal packagessimultaneously.

A controller for a commissioning device with horizontal storage areasfor storing piece goods, in particular medicinal packages, may include adelivery table with a storage and retrieval side for moving piece goodsor medicinal packages from or to a storage area, the table extending ina first horizontal direction (x). The above first horizontal directioncorresponds to the storage and retrieval direction for piece goods andis normally identical to the longitudinal axis of the controller. Twoelongated clamping jaws are disposed above the delivery table, the jawshaving clamping surfaces facing one another.

The controller may further include a clamping jaw guide apparatus with aframe structure and at least one first and one second guide which are inparallel with one another separated at a distance in the firsthorizontal direction (x), extending in a second horizontal direction (y)perpendicular to the first horizontal direction (x). The secondhorizontal direction is thus perpendicular and orthogonal to the storageand retrieval direction.

The controller itself is disposed on the side of the delivery tableopposite the storage and retrieval side thereof. The first guide isdefined here as the guide facing the storage and retrieval side. Thesecond guide is disposed parallel and behind the first guide relative tothe storage and retrieval side.

The clamping jaw guide apparatus may further include at least fourclamping jaw carriages which are coupled to the guides and driven in thesecond horizontal direction (y) and movable at the guides, wherein twofirst clamping jaw carriages are associated with the first guide and twosecond clamping jaw carriages are associated with the second guide, andwherein at least two clamping jaw carriages are coupled to a respectiveclamping jaw at a distance from one another in the first horizontaldirection (x).

The controller may also include a drive unit for moving the clamping jawguide unit in the first horizontal direction (x), the drive unit beingcoupled to the clamping jaw guide apparatus.

Therefore, each clamping jaw is coupled to a plurality of clamping jawcarriages, usually to half of the clamping jaw carriages present. Thecoupling points are offset relative to the first horizontal direction(x) (e.g., the storage and retrieval direction) so that, for example,the motion of the first clamping jaw carriages toward one another in thesecond horizontal direction (y) effects a tilting of the clamping jawstogether when the second clamping jaw carriages are positionally fixed.

In the controller, the control of the clamping jaws is executed verysimply and directly by way of the at least four clamping jaw carriages,and no movement of a guide unit in the storage or retrieval direction isrequired to pivot the tilting jaws opposite to this storage andretrieval direction. Through this direct control using at least twoclamping jaw carriages per clamping jaw, higher clamping forces may beapplied. For example, the controller may have the at least two clampingjaw carriages per clamping jaw act in concert (e.g., by moving the twoclamping jaw carriages toward one another relative to the secondhorizontal direction (y)). Seen from a design perspective, thecontroller according to the disclosure is much simpler, and higherclamping forces may be applied despite this simpler design.

In order to move the clamping jaw carriages in the second horizontaldirection (y) at the guides, each clamping jaw carriage may be providedwith a dedicated drive unit, for example, the drive unit sittingdirectly on the clamping jaw carriage. In this way, the at least fourclamping jaw carriages may be moved at the guides independently of oneanother so that the clamping jaws may be tilted arbitrarily open andclosed, whereby the two jaws tilt independently of one another.

The example of disposing a dedicated drive on each clamping jaw carriagedoes, however, come with greater expenses, and higher cabling andcontrol requirements. In one or more embodiments of the controller, theclamping jaw guide apparatus includes at least two drive elementscoupled to a drive unit. Here, a first drive element is connected to thefirst clamping jaw carriage and a second drive element is connected tothe second clamping jaw carriage so that the first and the second driveelements are disposed at a distance from one another in the firsthorizontal direction (x). Thus, the clamping jaw carriages associatedwith a guide may be moved or driven through the use of a single driveelement, thereby obviating the need for assigning a single drive to eachclamping jaw carriage. The drive elements and the associated drive unitmay be disposed in any way as long as linear motion of the clamping jawcarriages is assured in the second horizontal direction at or on theguides. To drive or move the clamping jaw carriages, any kind of lineardrive can be used. For example, the drive elements may be belt-driven,the belts being redirected at pulleys at the guides and driving theclamping jaw carriages (e.g., by way of a coupling to the drive unit).In such an example, the clamping jaw carriages are designed to includeappropriate coupling to the drive unit.

In order to achieve separate controllability of all clamping jawcarriages, in one or more embodiments of the controller the clamping jawguide apparatus includes at least four drive elements coupled to a driveunit. Here, two first drive elements are connected to the first clampingjaw carriage and two second drive elements are connected to the secondclamping jaw carriage, wherein the first and the second drive elementsare disposed at a distance from one another in the first horizontaldirection (x). Thus, only one (central) drive unit is provided, which iscoupled to the clamping jaw carriages by way of the drive elements andwhich moves the clamping jaw carriages by way of the drive elements atthe guides. The drive unit itself may include only one drive, which maythen be coupled to the drive elements by way of a correspondingtransmission unit in order to move the elements individually and/or inpairs.

The drive elements and the associated drive unit may be disposed in anyway as long as linear motion of the clamping jaw carriages is assured inthe second horizontal direction (y) at or on the guides. Thus, to driveor move the clamping jaw carriages, any kind of linear drive may beused. In one or more embodiments, the drive elements are designed astoothed racks and coupled to the drive unit accordingly. Anotheradvantage of the toothed racks is that high forces can be transferred tothe clamping jaw carriages thereby.

To retrieve piece goods or medicinal packages from storage areas, it iscommon to align the clamping jaws in parallel and then move the sameinto the storage area so that after the clamping jaws are moved inwardthe piece goods to be retrieved are positioned therebetween. In order tograsp the piece goods, the clamping jaws are then tilted in such a waythat the ends of the clamping jaws moved into the storage areas aremoved toward one another. During retrieval, the ends of the clampingjaws may abut against the sides of the piece goods, or the clamping jawsmay be moved together far enough that the distance between the ends ofthe clamping jaws is less than the width of the rear piece good to beretrieved.

Due to the manner in which the piece goods are retrieved, the clampingjaws don't need to be moved away from one another separately. Here, asynchronous, mirror-imaged, identical motion of the clamping jaws issufficient. Therefore, in one or more embodiments, the drive unitincludes at least two drives, each having one drive gear, and the firstand second drive elements designed as toothed racks are disposedopposite one another. Thus, one drive gear is disposed centrally betweenthe first and second drive elements, respectively, so that the clampingjaw carriages associated with a guide are driven synchronously.

As discussed above, the clamping jaws move inward into the storage areain order to retrieve piece goods or medicinal packages. Since theclamping jaws are coupled to the clamping jaw guide apparatus, theapparatus is movable in the storage and retrieval direction (e.g.,corresponding to the first horizontal direction (x)), which is why theclamping jaw guide apparatus is coupled to a corresponding drive unit.

In order to provide a controller with as large of an open delivery tablearea as possible (e.g., with as compact a clamping jaw guide apparatusas possible), in one or more embodiments a component of the framestructure of the clamping jaw guide apparatus reaches around thedelivery table and is coupled to a drive unit disposed below thedelivery table, the drive unit moving the clamping jaw guide apparatus.In such an embodiment of the clamping jaw guide apparatus, it ispossible to dispose the drive for moving the clamping jaw guideapparatus in the storage and retrieval direction below the deliverytable such that the clamping jaw guide apparatus is designed verycompactly relative to the first horizontal direction (x).

In one or more embodiments, the drive unit for moving the clamping jawguide apparatus is designed as a linear drive with moving parts andstationary parts. Here, the moving parts are coupled to the component ofthe frame structure that reaches around the delivery table and thestationary parts are designed below the delivery table.

To move piece goods or medicinal packages placed on the delivery tablefrom the same to a storage area, the controller may include a pusher(e.g., a telescope arm), wherein the pusher may be coupled to theclamping jaw guide apparatus or may be designed as a component of theclamping jaw guide apparatus.

In order to keep the design of the clamping jaw guide apparatus assimple as possible, one or more embodiments provide that the deliverytable has an opening extending in the first horizontal direction, apusher being movable in the opening in the first horizontal direction,wherein the pusher is coupled to a drive. The mechanism for moving thepusher is therefore disposed primarily below the delivery table so thatthe number of components of the clamping jaw guide apparatus is reduced.

In order to avoid slippage of clamping jaws against piece goods as theyare retrieved, in one or more embodiments at least one section of theclamping surfaces of the clamping jaws includes a non-slip material. Forexample, either the jaw is made of such a non-slip material or the jawis coated, at least in sections, with a non-slip material.

FIGS. 1a, 1b show two perspective views of one or more embodiments ofthe controller, wherein FIG. 1a reflects a perspective view from aboveand FIG. 1b reflects a perspective view from below. The controller 1includes a delivery table 10, above which two clamping jaws 20 a, 20 bhaving opposing clamping surfaces 21 a, 21 b are disposed. The free endsof the clamping jaws 20 a, 20 b may have a section 22 a, 22 b that iscoated with a non-slip material.

At the free ends of the clamping jaws 20 a, 20 b, the delivery table 10has a storage and retrieval side 15 past which medicinal packages arepushed from the delivery table 10 onto storage areas or pulled from thestorage areas onto the delivery table 10. The storage and retrievaldirection corresponds to the first horizontal direction x indicated inFIG. 1 a.

The delivery table 10 has a central slotted opening 11 that extends inthe storage and retrieval direction (e.g., in the first horizontaldirection x). A pusher element 12 with a broadened pushing head 13 isdisposed in the opening 11. The pusher element 12 may be moved in theslotted opening 11 in the storage and retrieval direction (e.g., in thefirst horizontal direction x).

A clamping jaw guide apparatus 30 is disposed opposite to the storageand retrieval side 15, with clamping jaws 20 a, 20 b being connected tothe clamping jaw guide apparatus 30. The clamping jaw guide apparatus 30may include the mechanism for tilting the clamping jaws 20 a, 20 b. Inthe upper section, the clamping jaw guide apparatus 30 includes aclamping jaw drive unit 50 with first and second drives 51, 52, as wellas associated first and second transmissions 53, 54. As shown, the firstand second drives 51, 52 cause the clamping jaws 20 a, 20 b to tilt in amanner described in detail in the subsequent figures. The clamping jawguide apparatus 30 may also include an optical detector 2 for monitoringvarious aspects of the storage and retrieval process.

The clamping jaw guide apparatus 30 and all the electronic componentsthereof are connected to a control unit 4 that is disposed below afastening arm 3 as shown. The fastening arm 3 may be fastened to thedelivery table 10 or to a substructure thereof by way of a swivel joint5.

To store and retrieve medicinal packages, the clamping jaw guideapparatus 30 is moved in the first horizontal direction x (e.g., thestorage and retrieval direction). To this end, a guide apparatus driveunit 60 may be disposed below the delivery table 10, the guide apparatusdrive unit 60 moving the clamping jaw guide apparatus 30 as described inthe subsequent figures in detail. Further disposed below the deliverytable 10 may be a pusher drive unit 6 for moving the pusher element 12in the first horizontal direction x in the slotted opening 11.

FIGS. 2a and 2b are perspective views of the clamping jaw guideapparatus 30 together with the clamping jaws 20 a, 20 b. The clampingjaw guide apparatus 30 includes a frame structure 37, the framestructure 37 having a front component 31, a top component 32, andopposing lateral components 33 a, 33 b. The front component 31 may beconfigured to reach around the clamping jaws 20 a, 20 b and the deliverytable 10 (see FIGS. 1a, 1b ). Fastened at the lower ends of component 31are moving parts 62 a, 62 b (e.g., the “runners”) of a linear drive, therunners being able to move the clamping jaw guide apparatus 30 in thefirst horizontal direction. The components are called “moving”components since they move in the first horizontal direction togetherwith the clamping jaw guide apparatus 30 along corresponding stationaryparts, which are rotated so as to move the moving parts. The stationaryparts 61 a, 61 b (see FIG. 1b ) themselves may move in order to move themoving parts, for example by rotation of the stationary parts, wherebythis rotational motion may move the moving parts along the longitudinalaxis of the stationary parts. The stationary parts are therefore onlythemselves stationary relative to the positions thereof within thecontroller 1.

For example, the stationary parts may be provided as belts designedbetween the longitudinal ends of the controller 1 and that cooperatewith corresponding pulleys for moving the moving parts.

As can be seen in FIGS. 2b and 3, a first guide 35 and a second guide36, extend parallel to one another between lateral components 33 a, 33 bin a second horizontal direction y. Here, the guides 35, 36 are separatefrom one another in the first horizontal direction x, wherein the firstguide 35 faces the free ends of the clamping jaws 20 a, 20 b.

Clamping jaw carriages 40 a, 40 b; 41 a, 41 b are disposed at each ofthe guides 35, 36. Two first clamping jaw carriages 40 a, 40 b may bedisposed at the first guide 35 and two second clamping jaw carriages 41a, 41 b may be disposed at the second guide 36. A section of theclamping jaw carriages 40 a, 40 b; 41 a, 41 b may reach around aprojecting end of the guides 35, 36 such that part of the clamping jawcarriages 40 a, 40 b; 41 a, 41 b sit on the projecting end.

In one or more embodiments, the guides 35, 36 and carriages 40 a,40 b;41 a, 41 b may be designed in slightly different ways. For example, theguides 35, 36 may be designed as simple tubes through which surroundingclamping jaw carriages 40 a, 40 b; 41 a, 41 b may be moved. The exactdesign of the guides 35, 36 and the clamping jaw carriages 40 a, 40 b;41 a, 41 b is insignificant for the present disclosure. It is onlyimportant to ensure that the clamping jaws 20 a, 20 b may move parallelto one another and in the second horizontal direction y, which runsperpendicular and orthogonal to the first horizontal direction x.

As can be seen in FIG. 3 in particular, the clamping jaw carriages 40 a,40 b; 41 a, 41 b are connected to drive elements 45 a, 45 b; 46 a, 46 b,which may be designed as toothed racks as shown. The drive elements 45a, 45 b associated with the first guide 35 and the corresponding firstclamping jaw carriages 40 a, 40 b, and the corresponding drive elements46 a, 46 b associated with the second guide 36, may be aligned relativeto the tooth elements of the racks in such a way that the tooth elementsoppose one another and form an overlapping area at the free endsthereof. Disposed in the center of the overlapping area of therespective drive elements or racks 45 a, 45 b; 46 a, 46 b are first andsecond drive gears 55, 56 that are coupled to first and second drives51, 52 by way of first and second transmissions 53, 54 (see FIG. 1).

The distance between the clamping jaw carriages 40 a, 40 b; 41 a, 41 bof a guide 35, 36 and the corresponding drive gear thereof may beidentical. In other words, a drive gear may be disposed precisely in thecenter between two clamping jaw carriages 40 a, 40 b; 41 a, 41 b so thata movement of the drive gear causes synchronous movements of theclamping jaw carriages 40 a, 40 b; 41 a, 41 b. When the drive gear isrotated, the clamping jaw carriages 40 a, 40 b; 41 a, 41 b are movedsynchronously toward or away from one another, wherein the same appliesto the clamping jaw carriages 40 a, 40 b; 41 a, 41 b associated with thetwo guides 35, 36.

The clamping jaw carriages 40 a, 40 b of the first guide 35 maytherefore be moved simultaneously or separately with respect to theclamping jaw carriages 41 a, 41 b of the second guide 36, providing alarge degree of flexibility with regard to movement of the clamping jawcarriages 40 a, 40 b; 41 a, 41 b. The clamping jaw carriages 40 a, 40 b;41 a, 41 b of the first and second guides 35, 36 may be movedsynchronously or only the clamping jaw carriages 40 a, 40 b; 41 a, 41 bassociated with either the first or the second guide 35, 36 may bemoved. In this way, it is possible to move the clamping jaws 20 a, 20 bthat are fastened to the clamping jaw carriages 40 a, 40 b; 41 a, 41 b,in parallel or already tilted, simultaneously without any change inangle (e.g., by simultaneously moving the clamping jaw carriages 40 a,40 b; 41 a, 41 b of both guides 35, 36). If it is only the clamping jawcarriages 40 a, 40 b; 41 a, 41 b of one guide 35, 36 that are to bemoved, it is possible to tilt the clamping jaws 20 a, 20 b.

In one or more embodiments, one drive element 45 a, 45 b; 46 a, 46 b isassociated with each clamping jaw carriage 40 a, 40 b; 41 a, 41 b. Inone or more embodiments, only two drive elements may be provided,wherein the two drive elements are associated with one guide and aredesigned as belts for driving the clamping jaw carriages 40 a, 40 b; 41a, 41 b, for example. In one or more embodiments, pulleys may also beprovided for the belts. The pulleys may be coupled to the guides 35, 36or to the frame structure 37. Further, a coupling between the clampingjaw drive unit 50 and the drive elements/belts may be provided.

As explained above, clamping jaws 20 a, 20 b are coupled to the clampingjaw guide apparatus 30. This coupling can be seen in FIG. 2b . Here,clamping jaws 20 a, 20 b may be connected to clamping jaw carriages 40a, 40 b by way of a respective swivel joint 23 a, 43 a; 23 b, 43 b ofthe first guide 35 and to clamping jaw carriages 41 a, 41 b of thesecond guide 36 by way of a slotted hole guide 24 a, 25 a, 44 a; 24 b,25 b, 44 b. In one or more embodiments, the swivel joint may be disposedat the clamping jaw carriages 41 a, 41 b associated with the secondguide 36. In this case, the slotted hole guides 24 a, 25 a, 44 a; 24 b,25 b, 44 b may be disposed at the clamping jaw carriages 40 a, 40 bassociated with the first guide 35.

However, it is not absolutely necessary to use the swivel joint/slottedhole guide combination. The clamping jaws 20 a, 20 b are held using aswivel or pivot joint at the corresponding clamping jaw carriages 40 a,40 b; 41 a, 41 b of at least one guide, but use of a slotted hole guideis not absolutely required. Thus, for example, in one or moreembodiments, the clamping jaws 20 a, 20 b may be moved together with theclamping jaw carriages 40 a, 40 b; 41 a, 41 b against a restoring force,and when the clamping jaw carriages 40 a, 40 b; 41 a, 41 b are movedback the restoring force moves the clamping jaws 20 a, 20 b back.

FIGS. 4a, 4b show a top view and bottom view of the clamping jaw guideapparatus 30 with the clamping jaws 20 a, 20 b tilted, wherein parts ofthe frame structure 37 and the clamping jaw drive unit 50 are left out.In FIG. 4a , it is easily seen that the first and second drive gears 55,56 are disposed exactly in the center between corresponding clamping jawcarriages 40 a, 40 b; 41 a, 41 b so that a rotating motion of the firstand second drive gears 55, 56 effects a synchronous movement of theassociated clamping jaw carriages 40 a, 40 b; 41 a, 41 b.

FIG. 4b shows a detailed view of the swivel joints 23 a, 43 a; 23 b, 43b and the slotted hole guides 24 a, 25 a, 44 a; 24 b, 25 b, 44 b. Pinsor projections 43 a, 43 b, 44 a, 44 b of the swivel joints and slottedhole guides 24 a, 25 a, 44 a; 24 b, 25 b, 44 b are provided by thecorresponding clamping jaw carriages 40 a, 40 b; 41 a, 41 b, whereas thecorresponding receptacles are provided by the clamping jaws 20 a, 20 bor by components disposed thereon.

FIG. 5 shows a detail view of the clamping jaw guide apparatus 30,wherein parts of the clamping jaw drive unit 50 and of the framestructure 37 are left out to provide a better view of the remainingcomponents. In FIG. 5, clamping jaws 20 a, 20 b have been broughttogether and are aligned parallel with one another. In a comparison ofFIGS. 3 and 5, it can be seen how the position of the clamping jaws 20a, 20 b is influenced by a shift of the clamping jaw carriages 40 a, 40b; 41 a, 41 b at the guides 35, 36.

FIGS. 6a, 6b show a top view and a bottom view according to FIG. 5(e.g., of a clamping jaw guide apparatus 30 with parallel clamping jaws20 a, 20 b brought together). In FIG. 6b , it can be seen that theprojections or pins 44 a, 44 b of the clamping jaw carriages 41 a, 41 bof guide 36 are disposed in slotted holes 25 a, 25 b entirely “at thebottom” since the clamping jaws 20 a, 20 b are situated parallel.Thereby, the section of the clamping jaws 20 a, 20 b located between thefirst and second guides 35, 36 is the smallest. When the clamping jaws20 a, 20 b are tilted, whether inward or outward relative to the ends ofthe clamping jaws 20 a, 20 b, the section of the clamping jaws 20 a, 20b (e.g., the length thereof) located between the guides 35, 36 increasessuch that the projections or pins 44 a, 44 b would travel “upward”within slotted holes 25 a, 25 b. In one or more embodiments, it may notbe required for the “slotted hole” as such to be closed, but instead anopen slotted hole (e.g., a type of fork) may also be used for guidingthe pins or projections.

The present disclosure is provided to enable any person skilled in theart to practice the various aspects described herein. The disclosureprovides various examples of the subject technology, and the subjecttechnology is not limited to these examples. Various modifications tothese aspects will be readily apparent to those skilled in the art, andthe generic principles defined herein may be applied to other aspects.

A reference to an element in the singular is not intended to mean “oneand only one” unless specifically so stated, but rather “one or more.”Unless specifically stated otherwise, the term “some” refers to one ormore. Pronouns in the masculine (e.g., his) include the feminine andneuter gender (e.g., her and its) and vice versa. Headings andsubheadings, if any, are used for convenience only and do not limit thesubject technology.

The word “exemplary” or the term “for example” is used herein to mean“serving as an example or illustration.” Any aspect or design describedherein as “exemplary” or “for example” is not necessarily to beconstrued as preferred or advantageous over other aspects or designs. Inone aspect, various alternative configurations and operations describedherein may be considered to be at least equivalent.

As used herein, the phrase “at least one of” preceding a series ofitems, with the term “or” to separate any of the items, modifies thelist as a whole, rather than each item of the list. The phrase “at leastone of” does not require selection of at least one item; rather, thephrase allows a meaning that includes at least one of any one of theitems, and/or at least one of any combination of the items, and/or atleast one of each of the items. By way of example, the phrase “at leastone of A, B, or C” may refer to: only A, only B, or only C; or anycombination of A, B, and C.

A phrase such as an “aspect” does not imply that such aspect isessential to the subject technology or that such aspect applies to allconfigurations of the subject technology. A disclosure relating to anaspect may apply to all configurations, or one or more configurations.An aspect may provide one or more examples. A phrase such as an aspectmay refer to one or more aspects and vice versa. A phrase such as an“embodiment” does not imply that such embodiment is essential to thesubject technology or that such embodiment applies to all configurationsof the subject technology. A disclosure relating to an embodiment mayapply to all embodiments, or one or more embodiments. An embodiment mayprovide one or more examples. A phrase such an embodiment may refer toone or more embodiments and vice versa. A phrase such as a“configuration” does not imply that such configuration is essential tothe subject technology or that such configuration applies to allconfigurations of the subject technology. A disclosure relating to aconfiguration may apply to all configurations, or one or moreconfigurations. A configuration may provide one or more examples. Aphrase such a configuration may refer to one or more configurations andvice versa.

In one aspect, unless otherwise stated, all measurements, values,ratings, positions, magnitudes, sizes, and other specifications that areset forth in this specification, including in the claims that follow,are approximate, not exact. In one aspect, they are intended to have areasonable range that is consistent with the functions to which theyrelate and with what is customary in the art to which they pertain.

It is understood that the specific order or hierarchy of steps,operations or processes disclosed is an illustration of exemplaryapproaches. Based upon design preferences, it is understood that thespecific order or hierarchy of steps, operations or processes may berearranged. Some of the steps, operations or processes may be performedsimultaneously. Some or all of the steps, operations, or processes maybe performed automatically, without the intervention of a user. Theaccompanying method claims, if any, present elements of the varioussteps, operations or processes in a sample order, and are not meant tobe limited to the specific order or hierarchy presented.

All structural and functional equivalents to the elements of the variousaspects described throughout this disclosure that are known or latercome to be known to those of ordinary skill in the art are expresslyincorporated herein by reference and are intended to be encompassed bythe claims. Moreover, nothing disclosed herein is intended to bededicated to the public regardless of whether such disclosure isexplicitly recited in the claims. No claim element is to be construedunder the provisions of 35 U.S.C. § 112 (f) unless the element isexpressly recited using the phrase “means for” or, in the case of amethod claim, the element is recited using the phrase “step for.”Furthermore, to the extent that the term “include,” “have,” or the likeis used, such term is intended to be inclusive in a manner similar tothe term “comprise” as “comprise” is interpreted when employed as atransitional word in a claim.

The Title, Background, Summary, Brief Description of the Drawings andAbstract of the disclosure are hereby incorporated into the disclosureand are provided as illustrative examples of the disclosure, not asrestrictive descriptions. It is submitted with the understanding thatthey will not be used to limit the scope or meaning of the claims. Inaddition, in the Detailed Description, it can be seen that thedescription provides illustrative examples and the various features aregrouped together in various embodiments for the purpose of streamliningthe disclosure. This method of disclosure is not to be interpreted asreflecting an intention that the claimed subject matter requires morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive subject matter lies in less than allfeatures of a single disclosed configuration or operation. The followingclaims are hereby incorporated into the Detailed Description, with eachclaim standing on its own as a separately claimed subject matter.

The claims are not intended to be limited to the aspects describedherein, but are to be accorded the full scope consistent with thelanguage claims and to encompass all legal equivalents. Notwithstanding,none of the claims are intended to embrace subject matter that fails tosatisfy the requirement of 35 U.S.C. § 101, 102, or 103, nor should theybe interpreted in such a way.

What is claimed is:
 1. A controller for a commissioning device withhorizontal storage surfaces for storing piece goods, comprising: adelivery table extending in a first horizontal direction, the deliverytable having a storage end and a retrieval end; two elongated clampingjaws disposed above the delivery table and comprising clamping surfacesfacing one another; and a clamping jaw guide apparatus, comprising: aframe structure; at least one first and one second guides that areparallel and apart from one another in the first horizontal directionand extend in a second horizontal direction, perpendicular to the firsthorizontal direction; at least four clamping jaw carriages coupled tothe guides and movable in the second horizontal direction, wherein twofirst clamping jaw carriages are associated with the first guide and twosecond clamping jaw carriages are associated with the second guide,respectively, and wherein at least two clamping jaw carriages separatedfrom one another in the first horizontal direction are coupled to asingle clamping jaw, respectively; and at least two drive elementscoupled to a clamping jaw drive unit, wherein the clamping jaw driveunit comprises at least two drives which have one drive gear each,disposed opposite to first and second drive elements, respectively,wherein a respective drive gear is disposed in the center between thefirst and second drive elements that the respective clamping jawcarriages associated with a guide are configured to be drivensynchronously.
 2. The controller of claim 1, wherein a first driveelement is connected to the first clamping jaw carriages and a seconddrive element is connected to the second clamping jaw carriages, whereinthe first and the second drive elements are disposed at a distance fromone another in the first horizontal direction.
 3. The controller ofclaim 1, wherein the clamping jaw guide apparatus comprises at leastfour drive elements coupled to the clamping jaw drive unit.
 4. Thecontroller of claim 3, wherein two first drive elements are connected tothe first clamping jaw carriages and two second drive elements areconnected to the second clamping jaw carriages, wherein the first andthe second drive elements are disposed at a distance from one another inthe first horizontal direction.
 5. The controller of claim 1, whereinthe drive elements are toothed racks.
 6. The controller of claim 1,further comprising a guide apparatus drive unit coupled to the clampingjaw guide apparatus, the guide apparatus drive unit configured to drivethe clamping jaw guide apparatus in the first horizontal direction. 7.The controller of claim 6, wherein a component of the frame structurereaches around the delivery table and is coupled to the guide apparatusdrive unit for moving the clamping jaw guide apparatus, the guideapparatus drive unit being disposed below the delivery table.
 8. Thecontroller of claim 6, wherein the guide apparatus drive unit for movingthe clamping jaw guide apparatus is configured as a linear drive withmoving parts and stationary parts.
 9. The controller of claim 1, whereinthe delivery table comprises an opening that extends in the firsthorizontal direction, a pusher being moveably disposed in the opening inthe first horizontal direction, wherein the pusher is coupled to apusher drive unit.
 10. The controller of claim 1, wherein at least onesection of the clamping surfaces of the clamping jaws comprises anon-slip material.
 11. A controller, comprising: a delivery table; aplurality of elongated clamping jaws disposed above the delivery table;and a clamping jaw guide apparatus, comprising: a frame structure; aplurality of guides disposed in parallel with the frame structure; aplurality of clamping jaw carriages coupled to the plurality of guides,the plurality of clamping jaw carriages configured to be driven inparallel with the frame structure; and a plurality of drive elementscoupled to a clamping jaw drive unit, wherein the clamping jaw driveunit comprises a plurality of drives which have one drive gear each, andthat are disposed opposite to the plurality of drive elements,respectively, wherein a respective drive gear is disposed in the centerbetween the plurality of drive elements that the respective clamping jawcarriages associated with a guide are configured to be drivensynchronously, wherein each of the plurality of guides is associatedwith one or more of the plurality of clamping jaw carriages, and whereinat least two of the plurality of clamping jaw carriages are coupled toeach of the plurality of clamping jaws.
 12. The controller of claim 11,wherein the clamping jaw guide apparatus comprises at least four driveelements coupled to a clamping jaw drive unit.
 13. The controller ofclaim 12, wherein two first drive elements are connected to firstclamping jaw carriages of the plurality of clamping jaw carriages andtwo second drive elements are connected to second clamping jaw carriagesof the plurality of clamping jaw carriages, wherein the first and thesecond drive elements are disposed at a distance from one another. 14.The controller of claim 11, wherein at least one of the plurality ofdrive elements is connected to each of the plurality of clamping jawcarriages, wherein the plurality of drive elements are disposed at adistance from one another.
 15. The controller of claim 11, wherein thedrive elements are toothed racks.
 16. The controller of claim 11,further comprising a guide apparatus drive unit coupled to the clampingjaw guide apparatus, the drive unit configured to drive the clamping jawguide apparatus along the delivery table.
 17. The controller of claim16, wherein a component of the frame structure is disposed around thedelivery table and is coupled to the guide apparatus drive unit that isdisposed below the delivery table, the guide apparatus drive unitconfigured as a linear drive with moving parts and stationary parts,wherein the guide apparatus drive unit is configured to move theclamping jaw guide apparatus.
 18. The controller of claim 11, whereinthe delivery table comprises an opening extending along a portion of thedelivery table, a pusher being moveably disposed in the opening, whereinthe pusher is coupled to a pusher drive unit.
 19. The controller ofclaim 11, wherein at least one section of the clamping surfaces of theclamping jaws comprises a non-slip material.
 20. A commissioning devicecontroller, comprising: a delivery table elongated in a first direction;two clamping jaws disposed above the delivery table; a guide apparatusdrive unit; and a clamping jaw guide apparatus coupled to the guideapparatus drive unit, wherein the clamping jaw guide apparatuscomprises: a frame structure; first and second guides disposed inparallel and apart from one another along the first direction, andextending in a second direction perpendicular to the first direction;and a plurality of clamping jaw carriages coupled to the first andsecond guides and configured to be moveable in the second direction; andfirst and second drive elements coupled to a clamping jaw drive unit,wherein the clamping jaw drive unit comprises two drives which have onedrive gear each, disposed opposite to the first and second driveelements, respectively, wherein a respective drive gear is disposed inthe center between the first and second drive elements that therespective clamping jaw carriages associated with a guide are configuredto be driven synchronously, wherein first clamping jaw carriages areassociated with the first guide and second clamping jaw carriages areassociated with the second guide, and wherein at least two of theplurality of clamping jaw carriages are coupled to one of the clampingjaws and are separated from one another in the first direction.